We integrated the obstacle avoidance system into two different *UAV systems, namely a Pixhawk based system and the the DJI Matrice 100 as shown in fig:uavscheme.
To validate the integrity of our algorithm we used Hardware-in-the-Loop testing in conjunction with a *UAV flight simulators from DJI and Microsoft AirSim [1]}, as shown in fig:sim.
Both flight controller were connected through their USB interface to the host PC running the flight simulator.
With the Hardware-in-the-Loop connection the application for the *UAV is the same as in real environment, but instead of controlling the motors the flight of the *UAV is simulated.
<FIGURE>